Parameter control method for force feedback handle of space manipulator

Abstract

The invention discloses a parameter control method for a force feedback handle of a space manipulator. The method comprises the steps of operating the tail end of the handle, and detecting the displacement amount of a joint angle through encoders arranged at each joint of the handle; calculating the attitude angle of the tail end of the handle according to the joint angle; building a calculation model of handle feedback force, calculating the feedback force output by the handle according to the calculation model, solving a handle feedback force control parameter range, and setting an initial value; entering a training mode, setting feedback force control parameters according to feedback force experiences of different personnel, storing the parameters, and setting personal configuration; and when an on-orbit operation task is executed, entering a parameter configuration page, switching and loading personal configuration, and completing user customization of the handle feedback force. The parameter control method disclosed by the invention can meet the personalized requirement of an operator for force sense perception during task execution, so that the method can better serve the application of the space manipulator.

Description

technical field [0001] The invention belongs to the technical field of space manipulators, and in particular relates to a parameter control method of a force feedback handle of a space manipulator. Background technique [0002] With the continuous deepening of my country's space station construction, astronauts can complete capture, docking and transposition of space station cabin sections, auxiliary replacement of extravehicular equipment, self-exit activities, and platform load care by operating the robotic arm. Its complex operation process and the special environment of the space require the handle of the manipulator to have a better user experience, so as to better assist the astronauts in completing the tasks of the manipulator. [0003] As a force-feedback interactive device, the force feedback handle can complete the information collection of the operator's operation actions, realize the control of the operated object, and at the same time feed back the state of the ...

AI Technical Summary

Problems solved by technology

However, in the known force-sense interaction devices, the control strategy of the feedback force is single, the size of the feedback force is difficult to adjust and is not open to the user, and it cannot be flexibly adjusted according to the user's expectations according to the personalized differences of different users' needs. poor experience

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